With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potentia...With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking展开更多
以工业现场最常用的三组气动执行器和电动执行器系统为研究对象,分析了气动执行器和电动执行器的主要成本因素,基于生命周期成本LCC(life cycle cost),建立了两种执行器的LCCBPO(Life-cycle Costing Based on Product Owner)评价基准和...以工业现场最常用的三组气动执行器和电动执行器系统为研究对象,分析了气动执行器和电动执行器的主要成本因素,基于生命周期成本LCC(life cycle cost),建立了两种执行器的LCCBPO(Life-cycle Costing Based on Product Owner)评价基准和计算模型。两种执行器的LCCBPO主要包括:购置成本、运行维护成本和报废回收成本。通过三组气动和电动执行器在常见工况下的应用数据,进行LCCBPO分析和验证。结果表明:在同样的负载能力和行程的条件下,气动执行器的购置成本比电动执行器低;有杆气缸的运行维护成本比电动执行器成本低;气动执行器的报废回收成本比电动执行器低。在点到点搬运工况下,气动执行器的全生命周期成本比电动执行器更经济实惠。展开更多
基金Supported by National Key Scientific and Technological Project(Grant No.2010ZX04001-051-031)Key Program of National Natural Science Foundation of China((Grant No.61533014)the Innovative Research Team of Shaanxi Province,China(Grant No.2013KCT-04)
文摘With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking
文摘以工业现场最常用的三组气动执行器和电动执行器系统为研究对象,分析了气动执行器和电动执行器的主要成本因素,基于生命周期成本LCC(life cycle cost),建立了两种执行器的LCCBPO(Life-cycle Costing Based on Product Owner)评价基准和计算模型。两种执行器的LCCBPO主要包括:购置成本、运行维护成本和报废回收成本。通过三组气动和电动执行器在常见工况下的应用数据,进行LCCBPO分析和验证。结果表明:在同样的负载能力和行程的条件下,气动执行器的购置成本比电动执行器低;有杆气缸的运行维护成本比电动执行器成本低;气动执行器的报废回收成本比电动执行器低。在点到点搬运工况下,气动执行器的全生命周期成本比电动执行器更经济实惠。
